Dragomir Nenchev (Yoshikazu Kanamiya)

Short Biography

A leading robotics expert with 35 years of experience in robotics, focusing on modeling and motion control of redundant robots, parallel-link robots, free-floating space robots, flexible-base robots, humanoid robots, and home robots.

Emergent Humanoid Robot Motion Synergies Derived from the Momentum Equilibrium Principle and the Distribution of Momentum

The momentum equilibrium principle reveals the relative character of the spatial momentum equation in floating-base robotics. This talk clarifies how to take advantage of this character in motion generation and the design of a multitask controller for a humanoid robot. We focus especially on the angular momentum of the robot and the inherent redundancy resolution problem referred to as the “momentum distribution problem.” It is shown that with a proper momentum distribution, emergent behaviors (motion synergies) can be obtained that resemble those used by humans. A real-time controller for position and torque controlled humanoid robots is proposed that has a simple structure and that can be used in a broad variety of tasks. The performance of the controller is confirmed in a simulated environment with a number of tasks, including reactive motion control to accommodate external disturbances (both continuous-force and impacts), acrobatic tasks such as a somersault and a long jump, dynamic walking under various gaits with variable CoM height, blind stepping on an unknown obstacle, balancing on a wobble board and so on.

Experiment Video